基于连续帧间差分的抛弃式探头三维下沉运动处理方法研究

Research on the 3D Sinking Motion Processing Method for Expendable Probe Based on Continuous Frame Difference

抛弃式探头由无人机装载,能够在较远目标区域和危险海域开展海洋水文环境剖面参数的测量。通过安装不同传感器,可以实现对温度、盐度的剖面测量,其深度的测量采用数学方法计算得到。针对双摄像机水箱实验获得的5个不同攻角实验结果,分析了常用的运动目标的检测方法,最终选择基于连续帧间差分法,确定探头的三维坐标位置,进而得到探头下沉运动的三维运动轨迹和速度曲线等信息。探头从水面释放后攻角在下沉过程中不断调整,改变运动姿态,同时伴随自身的旋转,抵消水平方向阻力作用,初始攻角产生的深度测量误差主要体现在加速过程,探头达到匀速运动后测量误差不变,在不考虑横流的情况下,探头最后以匀速垂直下落运动。

Loaded by unmanned aerial vehicles（UAV）, expendable probes can be used to measure ocean hydrological profiles in distant or dangerous target sea areas. The temperature and salinity profile data could be measured through installing appropriate sensors, while the depth value can be calculated by mathematical methods. In this paper, the experimental results of five attack angles are obtained by double cameras in the plume experiment. The methods of detecting moving objects are analyzed, and the continuous frame difference method is chosen to determine the 3D coordinate position, thus obtaining the 3D sinking motion trajectory and velocity curves of the probe. The attack angle of probe adjusts continually after being released from the water surface, and changes the movement posture while accompanied by its own rotation to offset the horizontal direction of the resistance role. The initial measurement error is mainly reflected in the acceleration process, with the measurement error unchanged after the probe has achieved uniform sinking motion. The probe will finally move at a steady vertical sinking velocity without the necessity of considering the cross flow.